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                <h1 class="title-article" id="articleContentId">Rviz教程-Marker：点和线（C++）</h1>
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                    </svg>
                    <p>描述&#xff1a;如何使用visualization_msgs/Marker消息发送点和线到rviz中。</p> 
<p><strong>1. 介绍</strong> <br /> 在Markers: Basic Shapes中&#xff0c;学会了如何使用可以markers发送简单的形状到rviz中&#xff0c;这个教程会介绍 POINTS, LINE_STRIP 和 LINE_LIST marker类型。对于全部的类型清单&#xff0c;看<a href="http://wiki.ros.org/rviz/DisplayTypes/Marker">这里</a> 。</p> 
<p><strong>2. 使用Points, Line Strips, 和 Line Lists</strong> <br /> POINTS, LINE_STRIP 和 LINE_LIST markers 所有都使用visualization_msgs/Marker 消息的点成员。POINTS类型在每个点添加的位置放置一个点。LINE_STRIP类型将每个点用作一个连接的线中的定点&#xff0c;其中点0和点1连接&#xff0c;1和2连接&#xff0c;等等。LINE_LIST类型在每对点外创建一个不相连的线&#xff0c;也就是0连接1,2连接3&#xff0c;等等。</p> 
<p>2.1 代码及解释</p> 
<pre class="prettyprint"><code class=" hljs avrasm"><span class="hljs-preprocessor">#include &lt;ros/ros.h&gt;</span>
<span class="hljs-preprocessor">#include &lt;visualization_msgs/Marker.h&gt;</span>

<span class="hljs-preprocessor">#include &lt;cmath&gt;</span>

int main( int argc, char** argv )
{
  ros::init(argc, argv, <span class="hljs-string">&#34;points_and_lines&#34;</span>)<span class="hljs-comment">;</span>
  ros::NodeHandle n<span class="hljs-comment">;</span>
  ros::Publisher marker_pub &#61; n<span class="hljs-preprocessor">.advertise</span>&lt;visualization_msgs::Marker&gt;(<span class="hljs-string">&#34;visualization_marker&#34;</span>, <span class="hljs-number">10</span>)<span class="hljs-comment">;</span>

  ros::Rate r(<span class="hljs-number">30</span>)<span class="hljs-comment">;</span>

  float f &#61; <span class="hljs-number">0.0</span><span class="hljs-comment">;</span>
  while (ros::ok())
  {

    //创建一个 visualization_msgs/Marker消息&#xff0c;并且初始化所有共享的数据。消息成员默认为<span class="hljs-number">0</span>&#xff0c;仅仅设置位姿成员w。
    visualization_msgs::Marker points, line_strip, line_list<span class="hljs-comment">;</span>
    points<span class="hljs-preprocessor">.header</span><span class="hljs-preprocessor">.frame</span>_id &#61; line_strip<span class="hljs-preprocessor">.header</span><span class="hljs-preprocessor">.frame</span>_id &#61; line_list<span class="hljs-preprocessor">.header</span><span class="hljs-preprocessor">.frame</span>_id &#61; <span class="hljs-string">&#34;/my_frame&#34;</span><span class="hljs-comment">;</span>
    points<span class="hljs-preprocessor">.header</span><span class="hljs-preprocessor">.stamp</span> &#61; line_strip<span class="hljs-preprocessor">.header</span><span class="hljs-preprocessor">.stamp</span> &#61; line_list<span class="hljs-preprocessor">.header</span><span class="hljs-preprocessor">.stamp</span> &#61; ros::Time::now()<span class="hljs-comment">;</span>
    points<span class="hljs-preprocessor">.ns</span> &#61; line_strip<span class="hljs-preprocessor">.ns</span> &#61; line_list<span class="hljs-preprocessor">.ns</span> &#61; <span class="hljs-string">&#34;points_and_lines&#34;</span><span class="hljs-comment">;</span>
    points<span class="hljs-preprocessor">.action</span> &#61; line_strip<span class="hljs-preprocessor">.action</span> &#61; line_list<span class="hljs-preprocessor">.action</span> &#61; visualization_msgs::Marker::<span class="hljs-keyword">ADD</span><span class="hljs-comment">;</span>
    points<span class="hljs-preprocessor">.pose</span><span class="hljs-preprocessor">.orientation</span><span class="hljs-preprocessor">.w</span> &#61; line_strip<span class="hljs-preprocessor">.pose</span><span class="hljs-preprocessor">.orientation</span><span class="hljs-preprocessor">.w</span> &#61; line_list<span class="hljs-preprocessor">.pose</span><span class="hljs-preprocessor">.orientation</span><span class="hljs-preprocessor">.w</span> &#61; <span class="hljs-number">1.0</span><span class="hljs-comment">;</span>


    //分配三个不同的id到三个markers。points_and_lines名称空间的使用确保彼此不会相互冲突。
    points<span class="hljs-preprocessor">.id</span> &#61; <span class="hljs-number">0</span><span class="hljs-comment">;</span>
    line_strip<span class="hljs-preprocessor">.id</span> &#61; <span class="hljs-number">1</span><span class="hljs-comment">;</span>
    line_list<span class="hljs-preprocessor">.id</span> &#61; <span class="hljs-number">2</span><span class="hljs-comment">;</span>


    //设置marker类型到 POINTS, LINE_STRIP 和 LINE_LIST
    points<span class="hljs-preprocessor">.type</span> &#61; visualization_msgs::Marker::POINTS<span class="hljs-comment">;</span>
    line_strip<span class="hljs-preprocessor">.type</span> &#61; visualization_msgs::Marker::LINE_STRIP<span class="hljs-comment">;</span>
    line_list<span class="hljs-preprocessor">.type</span> &#61; visualization_msgs::Marker::LINE_LIST<span class="hljs-comment">;</span>



    // scale成员对于这些marker类型是不同的,POINTS marker分别使用<span class="hljs-built_in">x</span>和<span class="hljs-built_in">y</span>作为宽和高&#xff0c;然而LINE_STRIP和LINE_LIST marker仅仅使用<span class="hljs-built_in">x</span>&#xff0c;定义为线的宽度。单位是米。
    points<span class="hljs-preprocessor">.scale</span><span class="hljs-preprocessor">.x</span> &#61; <span class="hljs-number">0.2</span><span class="hljs-comment">;</span>
    points<span class="hljs-preprocessor">.scale</span><span class="hljs-preprocessor">.y</span> &#61; <span class="hljs-number">0.2</span><span class="hljs-comment">;</span>

    // LINE_STRIP/LINE_LIST markers use only the <span class="hljs-built_in">x</span> component of scale, for the line width
    line_strip<span class="hljs-preprocessor">.scale</span><span class="hljs-preprocessor">.x</span> &#61; <span class="hljs-number">0.1</span><span class="hljs-comment">;</span>
    line_list<span class="hljs-preprocessor">.scale</span><span class="hljs-preprocessor">.x</span> &#61; <span class="hljs-number">0.1</span><span class="hljs-comment">;</span>



    // 点为绿色
    points<span class="hljs-preprocessor">.color</span><span class="hljs-preprocessor">.g</span> &#61; <span class="hljs-number">1.0</span>f<span class="hljs-comment">;</span>
    points<span class="hljs-preprocessor">.color</span><span class="hljs-preprocessor">.a</span> &#61; <span class="hljs-number">1.0</span><span class="hljs-comment">;</span>

    // Line strip 是蓝色
    line_strip<span class="hljs-preprocessor">.color</span><span class="hljs-preprocessor">.b</span> &#61; <span class="hljs-number">1.0</span><span class="hljs-comment">;</span>
    line_strip<span class="hljs-preprocessor">.color</span><span class="hljs-preprocessor">.a</span> &#61; <span class="hljs-number">1.0</span><span class="hljs-comment">;</span>

    // Line list 为红色
    line_list<span class="hljs-preprocessor">.color</span><span class="hljs-preprocessor">.r</span> &#61; <span class="hljs-number">1.0</span><span class="hljs-comment">;</span>
    line_list<span class="hljs-preprocessor">.color</span><span class="hljs-preprocessor">.a</span> &#61; <span class="hljs-number">1.0</span><span class="hljs-comment">;</span>



    //使用正弦和余弦生成螺旋结构。POINTS和LINE_STRIP markers都仅仅需要<span class="hljs-number">1</span>个点作为每个顶点&#xff0c;然而LINE_LIST marker需要<span class="hljs-number">2</span>个点 。
    for (uint32_t i &#61; <span class="hljs-number">0</span><span class="hljs-comment">; i &lt; 100; &#43;&#43;i)</span>
    {
      float <span class="hljs-built_in">y</span> &#61; <span class="hljs-number">5</span> * sin(f &#43; i / <span class="hljs-number">100.0</span>f * <span class="hljs-number">2</span> * M_PI)<span class="hljs-comment">;</span>
      float <span class="hljs-built_in">z</span> &#61; <span class="hljs-number">5</span> * cos(f &#43; i / <span class="hljs-number">100.0</span>f * <span class="hljs-number">2</span> * M_PI)<span class="hljs-comment">;</span>

      geometry_msgs::Point p<span class="hljs-comment">;</span>
      p<span class="hljs-preprocessor">.x</span> &#61; (int32_t)i - <span class="hljs-number">50</span><span class="hljs-comment">;</span>
      p<span class="hljs-preprocessor">.y</span> &#61; <span class="hljs-built_in">y</span><span class="hljs-comment">;</span>
      p<span class="hljs-preprocessor">.z</span> &#61; <span class="hljs-built_in">z</span><span class="hljs-comment">;</span>

      points<span class="hljs-preprocessor">.points</span><span class="hljs-preprocessor">.push</span>_back(p)<span class="hljs-comment">;</span>
      line_strip<span class="hljs-preprocessor">.points</span><span class="hljs-preprocessor">.push</span>_back(p)<span class="hljs-comment">;</span>

      // The line list needs two points for each line
      line_list<span class="hljs-preprocessor">.points</span><span class="hljs-preprocessor">.push</span>_back(p)<span class="hljs-comment">;</span>
      p<span class="hljs-preprocessor">.z</span> &#43;&#61; <span class="hljs-number">1.0</span><span class="hljs-comment">;</span>
      line_list<span class="hljs-preprocessor">.points</span><span class="hljs-preprocessor">.push</span>_back(p)<span class="hljs-comment">;</span>
    }

    //发布各个markers
    marker_pub<span class="hljs-preprocessor">.publish</span>(points)<span class="hljs-comment">;</span>
    marker_pub<span class="hljs-preprocessor">.publish</span>(line_strip)<span class="hljs-comment">;</span>
    marker_pub<span class="hljs-preprocessor">.publish</span>(line_list)<span class="hljs-comment">;</span>

    r<span class="hljs-preprocessor">.sleep</span>()<span class="hljs-comment">;</span>

    f &#43;&#61; <span class="hljs-number">0.04</span><span class="hljs-comment">;</span>
  }
}</code></pre> 
<p>2.3 查看marker效果</p> 
<p>在CMakeLists.txt文件中添加&#xff1a;</p> 
<pre class="prettyprint"><code class=" hljs cmake"><span class="hljs-keyword">add_executable</span>(points_and_lines src/points_and_lines.cpp)
<span class="hljs-keyword">target_link_libraries</span>(points_and_lines <span class="hljs-envvar">${catkin_LIBRARIES}</span>)</code></pre> 
<p>然后</p> 
<pre class="prettyprint"><code class=" hljs ruby"><span class="hljs-variable">$ </span>catkin_make
<span class="hljs-variable">$ </span>rosrun rviz rviz &amp;
<span class="hljs-variable">$ </span>rosrun using_markers points_and_lines</code></pre> 
<p>将会看到一个旋转的螺旋结构&#xff1a; <br /> <img src="https://img-blog.csdn.net/20170225090915112?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQvd2lseWxjeXU&#61;/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA&#61;&#61;/dissolve/70/gravity/SouthEast" alt="这里写图片描述" title="" /></p>
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                            <div class="share-tit">Rviz教程-Marker：点和线（C++）</div>
                            <div class="share-dec">描述：如何使用visualization_msgs/Marker消息发送点和线到rviz中。介绍 在Markers: Basic Shapes中，学会了如何使用可以markers发送简单的形状到rviz中，这个教程会介绍 POINTS, LINE_STRIP 和 LINE_LIST marker类型。对于全部的类型清单，看这里 。使用Points, Line Strips, 和 Line Li</div>
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				<div class="desc ellipsis-online ellipsis-online-1">一、在using_<em>marker</em>/src中编写<em>点和线</em>代码

vim ~/catkin_ws/src/using_<em>marker</em>/src/points_and_<em>line</em>s.cpp

&nbsp;
　　编写代码，其中有注释

#include &amp;lt;<em>ros</em>/<em>ros</em>.h&amp;gt;
#include &amp;lt;visualization_msgs/<em>Marker</em>.h&amp;gt;

#include &amp;lt;cmath&amp;gt;
...</div>
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1. API 格式及说明


plot([x], y, [fmt], *, data=None, **kwargs) # 同一个图绘制单线
plot([x], y, [fmt], [x2], y2, [fmt2], ..., **kwargs) # 同一个图里绘制多条线

(1) x, y： 传入的x 坐标...</div>
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				<div class="desc ellipsis-online ellipsis-online-1">介绍:

visualization_msgs::<em>Marker</em>格式如下:


//各种标志物类型的定义，每一个的具体介绍和形状可以到这里查看：http://wiki.<em>ros</em>.org/<em>rviz</em>/DisplayTypes/<em>Marker</em>
uint8 ARROW=0//箭头
uint8 CUBE=1//立方体
uint8 SPHERE=2//球
uint8 CYLINDER=3//圆柱体
uint8 <em>LINE</em>_STRIP=4//线条（<em>点</em>的连线）
uint8 <em>LINE</em>_LIST=5//线条序列
uint8 CUBE_</div>
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				<div class="desc ellipsis-online ellipsis-online-1">参考内容：

1. <em>ROS</em> Tutorials

2. <em>rviz</em> - <em>ROS</em> Wiki

3. <em>ROS</em>在<em>rviz</em>中实时显示轨迹（nav_msgs/Path消息的使用）

4. <em>ROS</em>在<em>rviz</em>中的不同位置显示文字(visualization_msgs::<em>Marker</em>Array的使用)

文章内容：

1. 读取导航坐标csv文件数据

2. 使用<em>rviz</em> - <em>ros</em>显示数据，得到<em>Marker</em>Arr...</div>
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				<div class="desc ellipsis-online ellipsis-online-1">0.写在最前面

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左侧专栏还在更新其他<em>ROS</em>实用技巧哦，关注一波？

在使用<em>ROS</em>进行机器人控制的时候，有时候会希望能够显示并且保留机器人的历史运动轨迹，比如最近在做行人跟踪，就希望能够保留多个行人的轨迹以及机器人的运动。本文将会介绍网上搜罗到...</div>
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				<div class="desc ellipsis-online ellipsis-online-1">描述：教如何使用visualization_msgs/<em>Marker</em>消息将<em>点和线</em>发送到<em>rviz</em>。</div>
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				<div class="desc ellipsis-online ellipsis-online-1"><em>Marker</em>s: Points and <em>Line</em>s (<em>C++</em>)
Description:&nbsp;Teaches
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 to send points and <em>line</em>s to <em>rviz</em>.

Tutorial
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Next
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					<div class="left ellipsis-online ellipsis-online-1"><em>Rviz</em><em>可视化</em>工具<em>Marker</em>示例：目标检测画矩形框</div>
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				<div class="desc ellipsis-online ellipsis-online-1">需求
经目标检测算法识别出目标后，需要以目标为中心画一个矩形框，将目标框出，在<em>Rviz</em>中显示。
所用的工具为<em>ROS</em>的<em>marker</em>消息类型。<em>Marker</em>显示允许各种基本形状的可编程添加到3D显示，通过发送visualization_msgs/<em>Marker</em> 来实现<em>可视化</em>。
先看效果

头文件包含
<em>ros</em>::Publisher <em>marker</em>_pub = nh.advertise&lt;visualization_msgs::<em>Marker</em>&gt;(&quot;/visualization_<em>marker</em>&quot;, 10);

填充数</div>
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				<div class="desc ellipsis-online ellipsis-online-1">1 介绍
在做位姿相关的研究时，我们希望直观的<em>可视化</em>轨迹，尤其是对比不同的轨迹。
本<em>教程</em>将向您介绍POINTS，<em>LINE</em>_STRIP和<em>LINE</em>_LIST标记类型。有关类型的完整列表，请参见&ldquo;标记显示&rdquo;页面。
2 使用Points, <em>Line</em> Strips, and <em>Line</em> Lists
POINTS，<em>LINE</em>_STRIP和<em>LINE</em>_LIST标记都使用visualization_msgs/Marke...</div>
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					<div class="left ellipsis-online ellipsis-online-1">怎么利用Interactive<em>Marker</em>s在<em>rviz</em>上画&ldquo;曲线&rdquo;</div>
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				<div class="desc ellipsis-online ellipsis-online-1"><em>rviz</em>是大家熟练玩转的界面，它是基于QT开发的一款比较成熟的平台，并留有一些接口给用户进行自定义功能的插入，例如基础的文本框输入、图形界面操作的cmd_vel速度下发插件(<em>rviz</em> plugin tutorials)，但做一件可增删改查的曲线绘制工具目前在<em>教程</em>中还没有普及。

首先要能轻松改变曲线端<em>点</em>位置，若是自己开发QT界面可以开心地使用QDrag制作拖拽图标作为曲线的可拖拽端<em>点</em>，但<em>rviz</em>仅...</div>
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				<div class="desc ellipsis-online ellipsis-online-1">https://www.jianshu.com/p/acbe1b8631dc

那么<em>marker</em>到底是什么呢？和它的名字一样，它就是一个用来标记的东西。如果我们给定<em>marker</em>一个position和orientation（位置和姿态），那么<em>rviz</em>就会在中间画图区域的指定位置生成一个指定方向的<em>marker</em>，这个<em>marker</em>可以是立方体，箭头等我们可以在程序中自行选择。如何给<em>marker</em>一个orientation和position那自然就是我们发布消息，<em>marker</em>接收消息，消息里面包含了<em>marker</em>的位置和</div>
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				<div class="desc ellipsis-online ellipsis-online-1"><em>ROS</em>在<em>rviz</em>中显示空间中的直线
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				<div class="desc ellipsis-online ellipsis-online-1"><em>Marker</em>标记的使用
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1. <em>ros</em>wiki上相应msg的定义

uint8 ARROW=0
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uint8 CYLINDER=3
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				<div class="desc ellipsis-online ellipsis-online-1"><em>rviz</em>中的grid说明

PlaneCellCount:要在网格平面中绘制的单元格数
NormalCellCount:沿网格法线方向绘制的单元格数量
CellSize:每个单元格边的长度（以米为单位）
<em>Line</em>Style:用于绘制线条的渲染操作。 无论距离多远，线条的宽度都是相同的。 BillBoards具有真实世界的宽度，因此它们会根据距相机的远近而变大/变小。
Alpha:应用于线条的透明度量
Plane:绘制网格的平面

...</div>
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				<div class="desc ellipsis-online ellipsis-online-1"><em>ROS</em>1和<em>ROS</em>2 <em>RVIZ</em> 代码详解
目录<em>ROS</em>1和<em>ROS</em>2 <em>RVIZ</em> 代码详解1、 头文件2、创建对象3、DELETEALL 操作，防止重影4、坐标系、时间戳、命名空间、id、生命周期5、类型和操作6、位姿7、尺寸大小8、颜色设置9、<em>LINE</em>_STRIP/<em>LINE</em>_LIST的形<em>点</em>集<em>marker</em>.points
参考wiki.<em>ros</em>.org的教材：http://wiki.<em>ros</em>.org/<em>rviz</em>/Tutorials/<em>Marker</em>s%3A%20Basic%20Shapes
1、 头文件
<em>ros</em>1, 不用inc</div>
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				<div class="desc ellipsis-online ellipsis-online-1">前言
最近,在复现一篇激光雷达检测障碍物的文献,在将雷达数据进行聚类后,需要观察聚类的效果,这个时候需要用<em>Rviz</em>标记,绘制标记框,把学习过程记录一下,方便后续查阅,也有助与于分享给别人作参考.

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				<div class="desc ellipsis-online ellipsis-online-1">#include &lt;<em>ros</em>/<em>ros</em>.h&gt;
#include &lt;visualization_msgs/<em>Marker</em>.h&gt;

int main(int argc, char** argv) {
  <em>ros</em>::init(argc, argv, &quot;show<em>line</em>&quot;);
  <em>ros</em>::NodeHandle n;
  <em>ros</em>::Publisher <em>marker</em>_pub =
      n.advertise&lt;visualization_msgs::<em>Marker</em>&gt;(&quot;visualiz</div>
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				<div class="desc ellipsis-online ellipsis-online-1">1标记：<em>点</em>线（C ++）

说明：教如何使用visualization_msgs/标记信息向<em>rviz</em>发送<em>点和线</em>。


2Intro

In the <em>Marker</em>s: Basic Shapes（第一段）你学会了如何发送简单的形状的基本形状，使用<em>可视化</em>标记物（visualization <em>marker</em>s)。你不仅仅可以发送简单的形状，并且本<em>教程</em>将介绍POINTS，<em>LINE</em>_STRIP和LI</div>
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				<div class="desc ellipsis-online ellipsis-online-1">原链接： http://community.bwbot.org<em>rviz</em>是<em>ros</em>自带的一个图形化工具，可以方便的对<em>ros</em>的程序进行图形化操作。其使用也是比较简单。 
整体界面如下图所示 
 界面主要分为左侧的显示设置区域，中间的大的显示区域和右侧的视角设置区域。最上面是和导航相关的几个工具。最下面是<em>ros</em>状态相关的一些数据的显示。下面以用<em>rviz</em>查看ORB_SLAM2的topic数据为例展示一下rvi</div>
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                    <a href="https://blog.csdn.net/hh1064284609" class="user-name" target="_blank">中二萌: </a>
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                    <a href="https://blog.csdn.net/Lovemyse1f" class="user-name" target="_blank">Lovemyse1f: </a>
                    <span class="code-comments">您好,我在使用搭建好的模型时,所构建的墙能够被穿过,感觉缺少了碰撞属性,您遇到过这种情况?</span>
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                    <a href="https://blog.csdn.net/weixin_44620836" class="user-name" target="_blank">龙院机械学长: </a>
                    <span class="code-comments">请问没有发布的tf树  odom_combined &rarr; base_footprint，这是什么原因呢？</span>
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